A Trajectory Tracking and Local Path Planning Control Strategy for Unmanned Underwater Vehicles

A Trajectory Tracking and Local Path Planning Control Strategy for Unmanned Underwater Vehicles

The control strategy of an underdriven unmanned underwater vehicle (UUV) equipped with front sonar and actuator faults in a continuous task environment is investigated. Considering trajectory tracking and local path planning in complex-obstacle environments, we propose a task transition strategy und...

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Bibliographic Details
Main Authors: Xun Zhang, Ziqi Wang, Huijun Chen, Hao Ding
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Journal of Marine Science and Engineering
Subjects:
deep reinforcement learning
RRT
unmanned underwater vehicle
path tracking
route planning
Online Access:https://www.mdpi.com/2077-1312/11/12/2230

Internet

https://www.mdpi.com/2077-1312/11/12/2230

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